Formation Control of Multi-Agent Systems With Position Constraints on a Closed Curve

Dear Editor, This letter deals with the formation control problem of a multiagent system that moves along a closed curve and is subject to position constraints. A distributed formation control law is developed under which the position constraint of each agent can always be satisfied. Due to the existence of position constraints, prescribed formations generally cannot be achieved by the agents. Consequently, lower and upper bounds on all agent's formation errors when time goes to infinity are provided. Moreover, a sufficient condition for achieving any admissible prescribed formation is also given, that is, all agents do not reach the upper bounds on their positions.